Adding lots of inline documentation, rosdoc files

adding inline doc to robot_hw

adding inline doc to robot_hw

adding inline doc to robot_hw

more doc

more documentation

more doc

more doc

more doc

more doc

formatting

adding more doc groups in controller manager

adding more doc groups in controller manager

Adding doc for controllerspec

adding hardware interface docs

adding doc to joint interfaces

adding rosdoc for controller_interface

Adding / reformatting doc for controller interface